Огляд анатомії ройових систем. Проблема управління

О.А. Кравчук, аспірант, В.Д. Самойлов, д-р техн. наук
Інститут проблем моделювання в енергетиці ім. Г.Є. Пухова НАН України
Україна, 03164, Київ, вул. Генерала Наумова, 15
тел. +380919693070, e-mail: Ця електронна адреса захищена від спам-ботів. Вам необхідно увімкнути JavaScript, щоб побачити її.

Èlektron. model. 2024, 46(2):101-121

https://doi.org/10.15407/emodel.46.02.101

АНОТАЦІЯ

В статті розкриваються сучасні підходи до побудови ройової системи з акцентом на рій безпілотних літальних апаратів. Розглянуто основні складові архітектури ройової сис­теми: модель роїння, комунікаційна мережа, система управління. Окреслено відмінність принципів управління індивідуальними безпілотними апаратами та великою групою (роєм) безпілотних апаратів. Вказано важливість та необхідність подальшої розробки методів та систем управління ройовими системами.

КЛЮЧОВІ СЛОВА:

безпілотні літальні апарати, ройова система, рій безпілотних літальних апаратів, ройовий інтелект.

СПИСОК ЛІТЕРАТУРИ

1. Giles K., Giammarco K. Mission-based architecture for swarm composability (MASC). Procedia computer science. 2017. Vol. 114. P. 57- URL: https://doi.org/10.1016/j.procs.2017.09.005.
2. Beni G., Wang J. Swarm intelligence in cellular robotic systems. Robots and Biological Systems: Towards a New Bionics? Berlin, Heidelberg, 1993. P. 703- URL: https://doi.org/10.1007/978-3-642-58069-7_38.
3. Kadrovach B.A. A communications modeling system for swarm-based sensors : Ph.D. Dissertation. 2003. 252 p. URL: https://scholar.afit.edu/etd/4130.
4. Finn A., Scheding S. Developments and challenges for autonomous unmanned vehicles: a compendium. Berlin, Heidelberg: Springer Berlin Heidelberg, 2010. URL: https://doi.org/1007/978-3-642-10704-7.
5. Dekker A. A taxonomy of network centric warfare architectures. DSTO Fern Hill, Department of Defence. Canberra ACT 2600, Australia, 2008. 14 p. URL: https://apps.dtic.mil/sti/pdfs/ADA488254.pdf.
6. Frew E.W., Brown T.X. Airborne communication networks for small unmanned aircraft Proceedings of the IEEE. 2008. Vol. 96, no. 12. P. 2008-2027. URL: https://doi.org/10.1109/jproc.2008.2006127.
7. Gupta L., Jain R., Vaszkun G. Survey of important issues in UAV communication networks. IEEE communications surveys & tutorials. 2016. Vol. 18, no. 2. P. 1123- URL: https://doi.org/10.1109/comst.2015.2495297.
8. Holland J.H. Complex adaptive systems. Daedalus. 1992. Vol. 121. P. 17- URL: http://www.jstor.org/stable/20025416.
9. Yang X. Firefly algorithm, lévy flights and global optimization. Research and development in intelligent systems XXVI, 19 October 2009 / ed. by M. Bramer, R. Ellis, M. Petridis. London, 2010. P. 209- URL: https://doi.org/10.1007/978-1-84882-983-1_15.
10. Gaudiano P., Bonabeau E., Shargel B. Evolving behaviors for a swarm of unmanned air vehicles. Proceedings 2005 IEEE swarm intelligence symposium. SIS 2005. Pasadena, CA, USA, 8-10 June 2005. Vol. 317- URL: https://doi.org/10.1109/SIS.2005.1501638.
11. Maier M. W. Architecting Principles for Systems-of-Systems. INCOSE international symposium. 1996. Vol. 6, no. 1. P. 565- URL: https://doi.org/10.1002/j.2334-5837.1996. tb02054.x.
12. Dudek G., Jenkin M.M., Milios E., Wilkes D. A taxonomy for multi-agent robotics. Autono­mous robots. 1996. Vol. 3, no. 4. P. 375- URL: https://doi.org/10.1007/ bf00240651.
13. Borshchev A., Filippov A. From system dynamics and discrete event to practical agent based modeling: reasons, techniques, tools. The 22nd International Conference of the System Dynamics Society, Oxford, England, 25-29 July 2004. 2004. URL: https://api.org/CorpusID:6188368.
14. Soysal O., Sahin E. Probabilistic aggregation strategies in swarm robotic systems. Proceedings 2005 IEEE swarm intelligence symposium, 2005. SIS 2005, Pasadena, CA, USA. 2005. P. 325- URL: https://doi.org/10.1109/sis.2005.1501639.
15. Martinoli A., Easton K., Agassounon W. Modeling swarm robotic systems: a case study in collaborative distributed manipulation. The international journal of robotics research. 2004. Vol. 23, no. 4. P. 415- URL: https://doi.org/10.1177/0278364904042197.
16. Parunak H.V.D. Making swarming happen. Conference on Swarming and C4ISR: Joint C4ISR Decision Support Center, 3 January 2003. 2003. URL: https://www.Abcresearch.org/abc/papers/MSH03.pdf.
17. Weiskopf F., Gion T., Elkiss D., Gilreath H., Bruzek J., Bamberger R., Grossman K., Wilkerson J. Control of cooperative, autonomous unmanned aerial vehicles. 1st UAV Conference, Portsmouth, Virginia. Reston, Virigina, 2002. URL: https://doi.org/10.2514/2002-3444.
18. Petri C.A. Communication with automata. Rome Air Development Center, Research and Technology Division, Griffiss Air Force Base, NY, technical report, 1966. 89 p. URL: https://apps.dtic.mil/sti/tr/pdf/AD0630125.pdf.
19. Zhu M., Brooks R. R. Comparison of petri net and finite state machine discrete event control of distributed surveillance network. International journal of distributed sensor networks. 2009. Vol. 5, no. 5. P. 480- URL: https://doi.org/10.1080/15501320903048753.
20. Brambilla M., Ferrante E., Birattari M., Dorigo M. Swarm robotics: a review from the swarm engineering perspective / M. Brambilla et al. Swarm intelligence. 2013. Vol. 7, no. 1. 1-41. URL: https://doi.org/10.1007/s11721-012-0075-2.
21. Nicolescu M.N., Matarić M.J. A hierarchical architecture for behavior-based robots. Proceedings of the first international joint conference on Autonomous agents and multiagent systems, Bologna, Italy, 15-19 July 2002. New York, USA, 2002. P. 227- URL: https://doi.org/10.1145/544741.544798.
22. Brambilla M., Pinciroli C., Birattari M., Dorigo M. Property-driven design for swarm robotics. of the 11th international conference on autonomous agents and multiagent systems (AAMAS 2012). 2012. P. 139-146. URL: http://www.ifaamas.org/Proceedings/aamas2012.
23. Buede D.M. The engineering design of systems: models and methods. 2nd ed. Hoboken, NJ : John Wiley & Sons, Inc, 2009. URL: https://doi.org/10.1002/9780470413791.
24. Reynolds C. Boids. background and update. 2001. URL: https://www.red3d.com/cwr/boids/.
25. Corson M.S., Macker J.P. Mobile Ad Hoc networking (MANET): routing protocol performance issues and evaluation considerations. RFC. 1999. Vol. 2501. P. 1- URL: https://doi.org/10.17487/RFC2501.
26. Estrin D., Govindan R., Heidemann J., Kumar S. Next century challenges: scalable coordination in sensor networks. of the 5th Annual ACM/IEEE International Conference on Mobile Computing and Networking (MobiCom ‘99), Seattle, Washington, United States, 15-19 August 1999. New York, NY, USA, 1999. P. 263-270. URL: https://doi.org/10.1145/313451.313556.
27. Bekmezci I., Sahingoz O.K., Temel ß. Flying Ad-Hoc Networks (FANETs): a survey. Ad hoc networks. 2013. Vol. 11, no. 3. P. 1254- URL: https://doi.org/10.1016/j.adhoc. 2012.12.004.
28. Chung T., Clement M., Day M., Jones K., Davis D., Jones M. Live-fly, large-scale field experimentation for large numbers of fixed-wing UAVs. 2016 IEEE international conference on robotics and automation (ICRA), Stockholm, Sweden, 16-21 May 2016. 2016. P. 1255- URL: https://doi.org/10.1109/icra.2016.7487257.
29. Cummings M., Bruni S., Mercier S., Mitchell P. Automation architecture for single operator, multiple UAV command and control. The International Command and Control Journal. 2007. Vol. 12. P. 1- URL: http://hdl.handle.net/1721.1/90285.
30. Cummings M., Nehme C., Crandall J., Mitchell P. Predicting operator capacity for supervisory control of multiple UAVs. Innovations in intelligent machines - 1 / ed. by J. Chahl et al. 2007. P. 11- URL: https://doi.org/10.1007/978-3-540-72696-8_2.
31. Lewis M. Human interaction with multiple remote robots. Reviews of human factors and 2013. Vol. 9, no. 1. P. 131-174. URL: https://doi.org/10.1177/1557234x 13506688.
32. Kolling A., Walker P., Chakraborty N., Sycara, K., Lewis M. Human interaction with robot swarms: a survey. IEEE transactions on human-machine systems. 2016. Vol. 46, no. 1. P. 9- URL: https://doi.org/10.1109/thms.2015.2480801.
33. Meystel A., Albus J., Messina E., Evans J., Fogel D., Hargrove W. Measuring performance of systems with autonomy: metrics for intelligence of constructed systems. National Institute of Standards and Technology, 2000. URL: https://www.nist.gov/system/files/documents/el/isd/ks/White_Paper_PerMIS2000.pdf.
34. Clough B.T. Metrics, schmetrics! How the heck do you determine a UAV’s autonomy anyway? Gaithersburg, MD: Air Force Research Lab: Performance Metrics for Intelligent Systems Workshop, 2002. 7 p. URL: https://apps.dtic.mil/sti/citations/ADA515926.
35. Brown D.S., Goodrich M.A., Jung S.Y., Kerman S. Two invariants of human swarm interaction. Journal of Human-Robot Interaction. 2015. Vol. 5, no. 1. P. 1. URL: https://doi.org/10.5898/jhri.5.1.brown.
36. Brown D. S., Kerman S. C., Goodrich M. A. Human-swarm interactions based on managing attractors. Proceedings of the 2014 ACM/IEEE international conference on human-robot interaction, Bielefeld Germany. New York, NY, USA, 2014. P. 90- URL: https://doi.org/10.1145/2559636.2559661.
37. Humann J., Pollard K., Hill S., Ayorinde O., Foots A., You S. Physical robot swarm testbed at ARL: specifications and experimental design possibilities. Army Research Laboratory, 2019. URL: https://apps.dtic.mil/sti/trecms/pdf/AD1084684.pdf.
38. Barber D., Davis L., Nicholson D., Finkelstein N., Chen J. The mixed initiative experimental (MIX) testbed for human robot interactions with varied levels of automation. Belvoir: Defense Technical Information Center, 2008. 7 p. URL: https://apps.dtic.mil/sti/tr/pdf/ADA505701.pdf.
39. Chen J. Y. C., Barnes M. J. Human–Agent teaming for multirobot control: a review of human factors issues. IEEE transactions on human-machine systems. 2014. Vol. 44, no. 1. P. 13- URL: https://doi.org/10.1109/thms.2013.2293535.
40. Barnes M. J., Chen J. Y. C., Jentsch F. Designing for mixed-initiative interactions between human and autonomous systems in complex environments. 2015 IEEE international conference on systems, man and cybernetics, Hong Kong, 9-12 October 2015. 2015. P. 1386- URL: https://doi.org/10.1109/smc.2015.246.
41. Pendleton B., Goodrich M. Scalable human interaction with robotic swarms. AIAA Infotech@Aerospace (I@A) Conference, Boston, MA. Reston, Virginia, 2013. URL: https://doi.org/10.2514/6.2013-4731.

Повний текст: PDF